robot.mdl

simulink real-time workshop for dragon12 development board from

	}
	Line {
	  SrcBlock		  "Data Type Conversion"
	  SrcPort		  1
	  DstBlock		  "Out"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "RECEIVE_FROM_FREE_PORT"
	  SrcPort		  1
	  DstBlock		  "Data Type Conversion"
	  DstPort		  1
	}
      }
    }
    Block {
      BlockType		      SubSystem
      Name		      "FreePortComms_RX1"
      Tag		      "MC9S12Target_FreePortCom"
      Ports		      [0, 1]
      Position		      [25, 204, 185, 306]
      AncestorBlock	      "mc9S12tool/Send user data"
      FontSize		      12
      ShowPortLabels	      off
      TreatAsAtomicUnit	      off
      MaskHelp		      "helpview('C:\\Documents and Settings\\fwornle\\"
"My Documents\\frank\\_cProgs\\Motorola\\rtmc9S12_CW_R13\\bin\\mc9S12.map', 'm"
"c9S12_FPTXD_In_blkref')"
      MaskPromptString	      "Sample time|Communication port|Baudrate|Channel"
" number|Number of elements|Data Type|Block receives raw data|Block output is "
"double"
      MaskStyleString	      "edit,popup(SCI0|SCI1|COM1|COM2|COM3|COM4),popup"
"(300|600|1200|2400|4800|9600|19200|38400|57600|115200),edit,edit,popup(SINGLE"
"|INT8|UINT8|INT16|UINT16|INT32|UINT32|BOOLEAN),checkbox,checkbox"
      MaskTunableValueString  "on,on,on,on,on,on,on,on"
      MaskCallbackString      "|||||||"
      MaskEnableString	      "on,on,on,on,on,on,on,on"
      MaskVisibilityString    "on,on,on,on,on,on,on,on"
      MaskToolTipString	      "on,on,on,on,on,on,on,on"
      MaskVarAliasString      ",,,,,,,"
      MaskVariables	      "sampletime=@1;port=@2;baudrate=@3;channel=@4;bu"
"f_size=@5;data_type=@6;format=@7;outformat=@8;"
      MaskInitialization      "[buf_sizestr, portNamestr, baudratestr, channel"
"str, data_type_str, sampletime_str] = mbc_freeportrxd(sampletime, port, baudr"
"ate, channel, buf_size, data_type, format, outformat);\n"
      MaskDisplay	      "fprintf('Receive %s element(s)\\nComm port: %s"
"\\nBaudrate: %s bps\\nChannel: %s\\nData type: %s\\n Sample rate: %s', buf_si"
"zestr, portNamestr, baudratestr, channelstr, data_type_str, sampletime_str)"
      MaskSelfModifiable      on
      MaskIconFrame	      on
      MaskIconOpaque	      on
      MaskIconRotate	      "none"
      MaskIconUnits	      "autoscale"
      MaskValueString	      "0.1|SCI0|115200|1|1|SINGLE|off|on"
      System {
	Name			"FreePortComms_RX1"
	Location		[542, 167, 996, 332]
	Open			off
	ModelBrowserVisibility	off
	ModelBrowserWidth	200
	ScreenColor		"white"
	PaperOrientation	"landscape"
	PaperPositionMode	"auto"
	PaperType		"A4"
	PaperUnits		"centimeters"
	ZoomFactor		"100"
	Block {
	  BlockType		  DataTypeConversion
	  Name			  "Data Type Conversion"
	  Position		  [240, 61, 295, 89]
	  DataType		  "double"
	}
	Block {
	  BlockType		  "S-Function"
	  Name			  "RECEIVE_FROM_FREE_PORT"
	  Tag			  "MC9S12target"
	  Ports			  [0, 1]
	  Position		  [35, 54, 165, 96]
	  List {
	    ListType		    RTWdata
	    portStr		    "0"
	    portNameStr		    "SCI0"
	    baudrateStr		    "115200"
	    formatStr		    "0"
	  }
	  FontSize		  12
	  FunctionName		  "freePortComms_rxd"
	  Parameters		  "sampletime, channel, buf_size, data_type, p"
"ort, baudrate, format"
	  MaskIconFrame		  on
	  MaskIconOpaque	  on
	  MaskIconRotate	  "none"
	  MaskIconUnits		  "autoscale"
	}
	Block {
	  BlockType		  Outport
	  Name			  "Out"
	  Position		  [400, 64, 420, 86]
	}
	Line {
	  SrcBlock		  "RECEIVE_FROM_FREE_PORT"
	  SrcPort		  1
	  DstBlock		  "Data Type Conversion"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Data Type Conversion"
	  SrcPort		  1
	  DstBlock		  "Out"
	  DstPort		  1
	}
      }
    }
    Block {
      BlockType		      Product
      Name		      "Product"
      Ports		      [2, 1]
      Position		      [280, 175, 310, 210]
      ShowName		      off
    }
    Block {
      BlockType		      SubSystem
      Name		      "Pulse width modulation1"
      Ports		      [1]
      Position		      [470, 215, 600, 295]
      AncestorBlock	      "mc9S12tool/Pulse width modulation"
      FontSize		      12
      TreatAsAtomicUnit	      off
      MaskHelp		      "helpview('C:\\Documents and Settings\\fwornle\\"
"My Documents\\frank\\_cProgs\\Motorola\\rtmc9S12_CW_R13\\bin\\mc9S12.map', 'm"
"c9S12_PWM_In_blkref')"
      MaskPromptString	      "Sample time|Resolution           |PWM period (8"
"-bit : up to 0.699 s, 16-bit : up to 179 s)|Pulse pin (PTP)    |Sign port    "
"           |Sign pin                |Saturation input level [simulated voltag"
"e]|Signal monitoring"
      MaskStyleString	      "edit,popup(8 bit|16 bit),edit,popup(0  (8-bit)|"
"1  (8-bit / 16-bit)|2  (8-bit)|3  (8-bit / 16-bit)|4  (8-bit)|5  (8-bit / 16-"
"bit)|6  (8-bit)|7  (8-bit / 16-bit)),popup(PORTA|PORTB|PTH|PTJ|PTM|PTP|PTT|PT"
"S),popup(0|1|2|3|4|5|6|7),edit,checkbox"
      MaskTunableValueString  "on,on,on,off,off,off,on,on"
      MaskCallbackString      "|||||||"
      MaskEnableString	      "on,on,on,on,on,on,on,on"
      MaskVisibilityString    "on,on,on,on,on,on,on,on"
      MaskToolTipString	      "on,on,on,on,on,on,on,on"
      MaskVarAliasString      ",,,,,,,"
      MaskVariables	      "sampletime=@1;resolution=@2;PWMper=@3;pulse_pin"
"=@4;sign_port=@5;sign_pin=@6;Vmax=@7;sig_mon=@8;"
      MaskInitialization      "[pulsepinstr, signportstr, signpinstr, periodst"
"r, clkABstr, resstr] = mbc_pwmoutput(sampletime, resolution, PWMper, pulse_pi"
"n, sign_port, sign_pin, Vmax, sig_mon);"
      MaskDisplay	      "fprintf('PWM-%s, %s-bit\\nPulse pin: PTP.%s\\nS"
"ign pin: %s.%s\\nPeriod: %s (s)\\nSaturation: %d', clkABstr, resstr, pulsepin"
"str, signportstr, signpinstr, periodstr, Vmax)"
      MaskSelfModifiable      on
      MaskIconFrame	      on
      MaskIconOpaque	      on
      MaskIconRotate	      "none"
      MaskIconUnits	      "autoscale"
      MaskValueString	      "0.01 |16 bit|0.01|3  (8-bit / 16-bit)|PTH|2|5|o"
"ff"
      System {
	Name			"Pulse width modulation1"
	Location		[440, 403, 875, 514]
	Open			off
	ModelBrowserVisibility	off
	ModelBrowserWidth	200
	ScreenColor		"white"
	PaperOrientation	"landscape"
	PaperPositionMode	"auto"
	PaperType		"A4"
	PaperUnits		"centimeters"
	ZoomFactor		"100"
	Block {
	  BlockType		  Inport
	  Name			  "In1"
	  Position		  [50, 40, 70, 60]
	  FontSize		  12
	}
	Block {
	  BlockType		  "S-Function"
	  Name			  "MC"
	  Tag			  "MC9S12target_pwm"
	  Ports			  [1]
	  Position		  [140, 30, 255, 70]
	  List {
	    ListType		    RTWdata
	    pulsepinStr		    "3"
	    pulsepinMask	    "8"
	    signportStr		    "PTH"
	    signportddrStr	    "DDRH"
	    signpinMask		    "4"
	    signpinStr		    "2"
	    resolutionStr	    "16"
	    CLKselectStr	    "1"
	    useSCLStr		    "1"
	    PCKStr		    "0"
	    PWMSCLStr		    "2"
	    PERIODStr		    "60000"
	  }
	  FontSize		  12
	  FunctionName		  "pwm_sfcn_9S12"
	  Parameters		  "sampletime, PWMper, pulse_pin, sign_port, s"
"ign_pin, Vmax, sig_mon"
	}
	Line {
	  SrcBlock		  "In1"
	  SrcPort		  1
	  DstBlock		  "MC"
	  DstPort		  1
	}
      }
    }
    Block {
      BlockType		      SubSystem
      Name		      "Pulse width modulation2"
      Ports		      [1]
      Position		      [470, 90, 600, 170]
      AncestorBlock	      "mc9S12tool/Pulse width modulation"
      FontSize		      12
      TreatAsAtomicUnit	      off
      MaskHelp		      "helpview('C:\\Documents and Settings\\fwornle\\"
"My Documents\\frank\\_cProgs\\Motorola\\rtmc9S12_CW_R13\\bin\\mc9S12.map', 'm"
"c9S12_PWM_In_blkref')"
      MaskPromptString	      "Sample time|Resolution           |PWM period (8"
"-bit : up to 0.699 s, 16-bit : up to 179 s)|Pulse pin (PTP)    |Sign port    "
"           |Sign pin                |Saturation input level [simulated voltag"
"e]|Signal monitoring"
      MaskStyleString	      "edit,popup(8 bit|16 bit),edit,popup(0  (8-bit)|"
"1  (8-bit / 16-bit)|2  (8-bit)|3  (8-bit / 16-bit)|4  (8-bit)|5  (8-bit / 16-"
"bit)|6  (8-bit)|7  (8-bit / 16-bit)),popup(PORTA|PORTB|PTH|PTJ|PTM|PTP|PTT|PT"
"S),popup(0|1|2|3|4|5|6|7),edit,checkbox"
      MaskTunableValueString  "on,on,on,off,off,off,on,on"
      MaskCallbackString      "|||||||"
      MaskEnableString	      "on,on,on,on,on,on,on,on"
      MaskVisibilityString    "on,on,on,on,on,on,on,on"
      MaskToolTipString	      "on,on,on,on,on,on,on,on"
      MaskVarAliasString      ",,,,,,,"
      MaskVariables	      "sampletime=@1;resolution=@2;PWMper=@3;pulse_pin"
"=@4;sign_port=@5;sign_pin=@6;Vmax=@7;sig_mon=@8;"
      MaskInitialization      "[pulsepinstr, signportstr, signpinstr, periodst"
"r, clkABstr, resstr] = mbc_pwmoutput(sampletime, resolution, PWMper, pulse_pi"
"n, sign_port, sign_pin, Vmax, sig_mon);"
      MaskDisplay	      "fprintf('PWM-%s, %s-bit\\nPulse pin: PTP.%s\\nS"
"ign pin: %s.%s\\nPeriod: %s (s)\\nSaturation: %d', clkABstr, resstr, pulsepin"
"str, signportstr, signpinstr, periodstr, Vmax)"
      MaskSelfModifiable      on
      MaskIconFrame	      on
      MaskIconOpaque	      on
      MaskIconRotate	      "none"
      MaskIconUnits	      "autoscale"
      MaskValueString	      "0.01 |16 bit|0.01|1  (8-bit / 16-bit)|PTH|1|5|o"
"ff"
      System {
	Name			"Pulse width modulation2"
	Location		[440, 403, 875, 514]
	Open			off
	ModelBrowserVisibility	off
	ModelBrowserWidth	200
	ScreenColor		"white"
	PaperOrientation	"landscape"
	PaperPositionMode	"auto"
	PaperType		"A4"
	PaperUnits		"centimeters"
	ZoomFactor		"100"
	Block {
	  BlockType		  Inport
	  Name			  "In1"
	  Position		  [50, 40, 70, 60]
	  FontSize		  12
	}
	Block {
	  BlockType		  "S-Function"
	  Name			  "MC"
	  Tag			  "MC9S12target_pwm"
	  Ports			  [1]
	  Position		  [140, 30, 255, 70]
	  List {
	    ListType		    RTWdata
	    pulsepinStr		    "1"
	    pulsepinMask	    "2"
	    signportStr		    "PTH"
	    signportddrStr	    "DDRH"
	    signpinMask		    "2"
	    signpinStr		    "1"
	    resolutionStr	    "16"
	    CLKselectStr	    "0"
	    useSCLStr		    "1"
	    PCKStr		    "0"
	    PWMSCLStr		    "2"
	    PERIODStr		    "60000"
	  }
	  FontSize		  12
	  FunctionName		  "pwm_sfcn_9S12"
	  Parameters		  "sampletime, PWMper, pulse_pin, sign_port, s"
"ign_pin, Vmax, sig_mon"
	}
	Line {
	  SrcBlock		  "In1"
	  SrcPort		  1
	  DstBlock		  "MC"
	  DstPort		  1
	}
      }
    }
    Block {
      BlockType		      ZeroOrderHold
      Name		      "Zero-Order\nHold"
      Position		      [400, 111, 435, 149]
      ShowName		      off
      SampleTime	      "0.01"
    }
    Block {
      BlockType		      ZeroOrderHold
      Name		      "Zero-Order\nHold1"
      Position		      [400, 236, 435, 274]
      ShowName		      off
      SampleTime	      "0.01"
    }
    Line {
      SrcBlock		      "Zero-Order\nHold"
      SrcPort		      1
      DstBlock		      "Pulse width modulation2"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Demux"
      SrcPort		      1
      Points		      [0, 0; 5, 0]
      Branch {
	DstBlock		"Zero-Order\nHold"
	DstPort			1
      }
      Branch {
	Points			[0, -85]
	DstBlock		"Display"
	DstPort			1
      }
    }
    Line {
      SrcBlock		      "Demux"
      SrcPort		      2
      Points		      [0, 0; 5, 0]
      Branch {
	DstBlock		"Zero-Order\nHold1"
	DstPort			1
      }
      Branch {
	Points			[0, 80]
	DstBlock		"Display1"
	DstPort			1
      }
    }
    Line {
      SrcBlock		      "Product"
      SrcPort		      1
      DstBlock		      "Demux"
      DstPort		      1
    }
    Line {
      SrcBlock		      "FreePortComms_RX"
      SrcPort		      1
      Points		      [35, 0; 0, 100]
      DstBlock		      "Product"
      DstPort		      1
    }
    Line {
      SrcBlock		      "FreePortComms_RX1"
      SrcPort		      1
      Points		      [35, 0]
      Branch {
	Points			[0, -55]
	DstBlock		"Product"
	DstPort			2
      }
      Branch {
	DstBlock		"Display2"
	DstPort			1
      }
    }
    Line {
      SrcBlock		      "Zero-Order\nHold1"
      SrcPort		      1
      DstBlock		      "Pulse width modulation1"
      DstPort		      1
    }
  }
}